/*
 * Copyright (c) 2024 Black Sesame Technologies
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef _DAL_FASTDDS_DAL_DOMAINPARTICIPANT_IMPL_HPP_
#define _DAL_FASTDDS_DAL_DOMAINPARTICIPANT_IMPL_HPP_

#include <mutex>
#include <atomic>
#include "dal_fastdds/utils/ReferenceCount.hpp"
#include "dal_fastdds/listener_impl/DomainParticipantListenerImpl.hpp"
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>

using namespace eprosima::fastdds::dds;

class DalDomainParticipantImpl
{
public:
    explicit DalDomainParticipantImpl(DomainParticipant* fastdds_participant,
                                      DomainParticipantListenerImpl* listener);
    ~DalDomainParticipantImpl();

    DomainParticipant*& FastddsDomainParticipant();
    bool Clear();

    // used for service/client communication
    Publisher* CSPublisher();
    Subscriber* CSSubscriber();
    bool CreateCSPubSub();
    bool DeleteCSPubSub();
    void AddCSTopic(Topic* topic);
    bool DeleteCSTopics();

private:
    DomainParticipantListenerImpl* listener_ = nullptr;
    DomainParticipant* fastdds_participant_ = nullptr;

    // used for service/client communication
    Publisher* cs_pub_ = nullptr;
    Subscriber* cs_sub_ = nullptr;
    std::atomic<bool> is_cs_pubsub_ready_ = {false};
    std::mutex cs_pubsub_mutex_;

    std::vector<Topic*> cs_topics_;
    std::mutex cs_topics_mutex_;
};

#endif  // _DAL_FASTDDS_DAL_DOMAINPARTICIPANT_IMPL_HPP_